mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-24 00:35:34 +03:00
Merge branch 'master' into blackbox_fields_gui
This commit is contained in:
Luca Giovannesi
GitHub
commit
40299f89d3
1 changed files with 47 additions and 44 deletions
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@ -1574,7 +1574,7 @@ static void mspFcDataFlashReadCommand(sbuf_t *dst, sbuf_t *src)
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// Request payload:
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// uint32_t - address to read from
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// uint16_t - size of block to read (optional)
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if (dataSize >= sizeof(uint32_t) + sizeof(uint16_t)) {
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if (dataSize == sizeof(uint32_t) + sizeof(uint16_t)) {
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readLength = sbufReadU16(src);
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}
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else {
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@ -1625,7 +1625,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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#endif
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case MSP_SET_ARMING_CONFIG:
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if (dataSize >= 2) {
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if (dataSize == 2) {
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sbufReadU8(src); //Swallow the first byte, used to be auto_disarm_delay
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armingConfigMutable()->disarm_kill_switch = !!sbufReadU8(src);
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} else
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@ -1640,7 +1640,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP2_SET_PID:
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if (dataSize >= PID_ITEM_COUNT * 4) {
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if (dataSize == PID_ITEM_COUNT * 4) {
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for (int i = 0; i < PID_ITEM_COUNT; i++) {
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pidBankMutable()->pid[i].P = sbufReadU8(src);
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pidBankMutable()->pid[i].I = sbufReadU8(src);
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@ -1655,7 +1655,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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case MSP_SET_MODE_RANGE:
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sbufReadU8Safe(&tmp_u8, src);
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if ((dataSize >= 5) && (tmp_u8 < MAX_MODE_ACTIVATION_CONDITION_COUNT)) {
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if ((dataSize == 5) && (tmp_u8 < MAX_MODE_ACTIVATION_CONDITION_COUNT)) {
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modeActivationCondition_t *mac = modeActivationConditionsMutable(tmp_u8);
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tmp_u8 = sbufReadU8(src);
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const box_t *box = findBoxByPermanentId(tmp_u8);
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@ -1676,7 +1676,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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case MSP_SET_ADJUSTMENT_RANGE:
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sbufReadU8Safe(&tmp_u8, src);
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if ((dataSize >= 7) && (tmp_u8 < MAX_ADJUSTMENT_RANGE_COUNT)) {
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if ((dataSize == 7) && (tmp_u8 < MAX_ADJUSTMENT_RANGE_COUNT)) {
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adjustmentRange_t *adjRange = adjustmentRangesMutable(tmp_u8);
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tmp_u8 = sbufReadU8(src);
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if (tmp_u8 < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT) {
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@ -1695,7 +1695,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_RC_TUNING:
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if ((dataSize >= 10) && (dataSize <= 11)) {
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if ((dataSize == 10) || (dataSize == 11)) {
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sbufReadU8(src); //Read rcRate8, kept for protocol compatibility reasons
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// need to cast away const to set controlRateProfile
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((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcExpo8 = sbufReadU8(src);
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@ -1763,7 +1763,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_MISC:
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if (dataSize >= 22) {
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if (dataSize == 22) {
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sbufReadU16(src); // midrc
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sbufReadU16(src); //Was min_throttle
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@ -1914,7 +1914,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_MOTOR:
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if (dataSize >= 8 * sizeof(uint16_t)) {
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if (dataSize == 8 * sizeof(uint16_t)) {
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for (int i = 0; i < 8; i++) {
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const int16_t disarmed = sbufReadU16(src);
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if (i < MAX_SUPPORTED_MOTORS) {
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@ -1947,7 +1947,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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case MSP_SET_SERVO_MIX_RULE:
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sbufReadU8Safe(&tmp_u8, src);
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if ((dataSize >= 9) && (tmp_u8 < MAX_SERVO_RULES)) {
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if ((dataSize == 9) && (tmp_u8 < MAX_SERVO_RULES)) {
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customServoMixersMutable(tmp_u8)->targetChannel = sbufReadU8(src);
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customServoMixersMutable(tmp_u8)->inputSource = sbufReadU8(src);
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customServoMixersMutable(tmp_u8)->rate = sbufReadU16(src);
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@ -2019,7 +2019,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_3D:
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if (dataSize >= 6) {
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if (dataSize == 6) {
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reversibleMotorsConfigMutable()->deadband_low = sbufReadU16(src);
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reversibleMotorsConfigMutable()->deadband_high = sbufReadU16(src);
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reversibleMotorsConfigMutable()->neutral = sbufReadU16(src);
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@ -2028,7 +2028,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_RC_DEADBAND:
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if (dataSize >= 5) {
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if (dataSize == 5) {
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rcControlsConfigMutable()->deadband = sbufReadU8(src);
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rcControlsConfigMutable()->yaw_deadband = sbufReadU8(src);
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rcControlsConfigMutable()->alt_hold_deadband = sbufReadU8(src);
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@ -2042,7 +2042,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_SENSOR_ALIGNMENT:
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if (dataSize >= 4) {
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if (dataSize == 4) {
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gyroConfigMutable()->gyro_align = sbufReadU8(src);
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accelerometerConfigMutable()->acc_align = sbufReadU8(src);
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#ifdef USE_MAG
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@ -2060,7 +2060,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_ADVANCED_CONFIG:
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if (dataSize >= 9) {
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if (dataSize == 9) {
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sbufReadU8(src); // gyroConfig()->gyroSyncDenominator
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sbufReadU8(src); // BF: masterConfig.pid_process_denom
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sbufReadU8(src); // BF: motorConfig()->useUnsyncedPwm
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@ -2114,7 +2114,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_PID_ADVANCED:
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if (dataSize >= 17) {
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if (dataSize == 17) {
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sbufReadU16(src); // pidProfileMutable()->rollPitchItermIgnoreRate
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sbufReadU16(src); // pidProfileMutable()->yawItermIgnoreRate
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sbufReadU16(src); //pidProfile()->yaw_p_limit
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@ -2137,7 +2137,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_INAV_PID:
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if (dataSize >= 15) {
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if (dataSize == 15) {
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sbufReadU8(src); //Legacy, no longer in use async processing value
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sbufReadU16(src); //Legacy, no longer in use async processing value
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sbufReadU16(src); //Legacy, no longer in use async processing value
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@ -2155,7 +2155,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_SENSOR_CONFIG:
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if (dataSize >= 6) {
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if (dataSize == 6) {
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accelerometerConfigMutable()->acc_hardware = sbufReadU8(src);
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#ifdef USE_BARO
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barometerConfigMutable()->baro_hardware = sbufReadU8(src);
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@ -2187,7 +2187,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_NAV_POSHOLD:
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if (dataSize >= 13) {
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if (dataSize == 13) {
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navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src);
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navConfigMutable()->general.max_auto_speed = sbufReadU16(src);
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navConfigMutable()->general.max_auto_climb_rate = sbufReadU16(src);
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@ -2201,7 +2201,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_RTH_AND_LAND_CONFIG:
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if (dataSize >= 19) {
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if (dataSize == 21) {
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navConfigMutable()->general.min_rth_distance = sbufReadU16(src);
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navConfigMutable()->general.flags.rth_climb_first = sbufReadU8(src);
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navConfigMutable()->general.flags.rth_climb_ignore_emerg = sbufReadU8(src);
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@ -2220,7 +2220,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_FW_CONFIG:
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if (dataSize >= 12) {
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if (dataSize == 12) {
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currentBatteryProfileMutable->nav.fw.cruise_throttle = sbufReadU16(src);
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currentBatteryProfileMutable->nav.fw.min_throttle = sbufReadU16(src);
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currentBatteryProfileMutable->nav.fw.max_throttle = sbufReadU16(src);
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@ -2274,7 +2274,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_POSITION_ESTIMATION_CONFIG:
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if (dataSize >= 12) {
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if (dataSize == 12) {
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positionEstimationConfigMutable()->w_z_baro_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
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positionEstimationConfigMutable()->w_z_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
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positionEstimationConfigMutable()->w_z_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
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@ -2448,7 +2448,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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#ifdef USE_GPS
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case MSP_SET_RAW_GPS:
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if (dataSize >= 14) {
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if (dataSize == 14) {
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if (sbufReadU8(src)) {
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ENABLE_STATE(GPS_FIX);
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} else {
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@ -2476,7 +2476,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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#endif
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case MSP_SET_WP:
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if (dataSize >= 21) {
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if (dataSize == 21) {
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const uint8_t msp_wp_no = sbufReadU8(src); // get the waypoint number
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navWaypoint_t msp_wp;
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msp_wp.action = sbufReadU8(src); // action
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@ -2492,7 +2492,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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return MSP_RESULT_ERROR;
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break;
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case MSP2_COMMON_SET_RADAR_POS:
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if (dataSize >= 19) {
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if (dataSize == 19) {
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const uint8_t msp_radar_no = MIN(sbufReadU8(src), RADAR_MAX_POIS - 1); // Radar poi number, 0 to 3
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radar_pois[msp_radar_no].state = sbufReadU8(src); // 0=undefined, 1=armed, 2=lost
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radar_pois[msp_radar_no].gps.lat = sbufReadU32(src); // lat 10E7
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@ -2506,7 +2506,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_FEATURE:
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if (dataSize >= 4) {
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if (dataSize == 4) {
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featureClearAll();
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featureSet(sbufReadU32(src)); // features bitmap
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rxUpdateRSSISource(); // For FEATURE_RSSI_ADC
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@ -2515,7 +2515,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_BOARD_ALIGNMENT:
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if (dataSize >= 6) {
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if (dataSize == 6) {
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boardAlignmentMutable()->rollDeciDegrees = sbufReadU16(src);
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boardAlignmentMutable()->pitchDeciDegrees = sbufReadU16(src);
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boardAlignmentMutable()->yawDeciDegrees = sbufReadU16(src);
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@ -2524,7 +2524,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_VOLTAGE_METER_CONFIG:
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if (dataSize >= 4) {
|
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if (dataSize == 4) {
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#ifdef USE_ADC
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batteryMetersConfigMutable()->voltage.scale = sbufReadU8(src) * 10;
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currentBatteryProfileMutable->voltage.cellMin = sbufReadU8(src) * 10;
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@ -2541,7 +2541,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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break;
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case MSP_SET_CURRENT_METER_CONFIG:
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if (dataSize >= 7) {
|
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if (dataSize == 7) {
|
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batteryMetersConfigMutable()->current.scale = sbufReadU16(src);
|
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batteryMetersConfigMutable()->current.offset = sbufReadU16(src);
|
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batteryMetersConfigMutable()->current.type = sbufReadU8(src);
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|
|
@ -2551,7 +2551,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
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break;
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case MSP_SET_MIXER:
|
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if (dataSize >= 1) {
|
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if (dataSize == 1) {
|
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sbufReadU8(src); //This is ignored, no longer supporting mixerMode
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mixerUpdateStateFlags(); // Required for correct preset functionality
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} else
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|
|
@ -2559,7 +2559,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
break;
|
||||
|
||||
case MSP_SET_RX_CONFIG:
|
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if (dataSize >= 24) {
|
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if (dataSize == 24) {
|
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rxConfigMutable()->serialrx_provider = sbufReadU8(src);
|
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rxConfigMutable()->maxcheck = sbufReadU16(src);
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sbufReadU16(src); // midrc
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|
|
@ -2590,7 +2590,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
break;
|
||||
|
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case MSP_SET_FAILSAFE_CONFIG:
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if (dataSize >= 20) {
|
||||
if (dataSize == 20) {
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failsafeConfigMutable()->failsafe_delay = sbufReadU8(src);
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failsafeConfigMutable()->failsafe_off_delay = sbufReadU8(src);
|
||||
currentBatteryProfileMutable->failsafe_throttle = sbufReadU16(src);
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|
|
@ -2610,7 +2610,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
|
||||
case MSP_SET_RSSI_CONFIG:
|
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sbufReadU8Safe(&tmp_u8, src);
|
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if ((dataSize >= 1) && (tmp_u8 <= MAX_SUPPORTED_RC_CHANNEL_COUNT)) {
|
||||
if ((dataSize == 1) && (tmp_u8 <= MAX_SUPPORTED_RC_CHANNEL_COUNT)) {
|
||||
rxConfigMutable()->rssi_channel = tmp_u8;
|
||||
rxUpdateRSSISource();
|
||||
} else {
|
||||
|
|
@ -2619,7 +2619,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
break;
|
||||
|
||||
case MSP_SET_RX_MAP:
|
||||
if (dataSize >= MAX_MAPPABLE_RX_INPUTS) {
|
||||
if (dataSize == MAX_MAPPABLE_RX_INPUTS) {
|
||||
for (int i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) {
|
||||
rxConfigMutable()->rcmap[i] = sbufReadU8(src);
|
||||
}
|
||||
|
|
@ -2657,7 +2657,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
|
||||
#ifdef USE_LED_STRIP
|
||||
case MSP_SET_LED_COLORS:
|
||||
if (dataSize >= LED_CONFIGURABLE_COLOR_COUNT * 4) {
|
||||
if (dataSize == LED_CONFIGURABLE_COLOR_COUNT * 4) {
|
||||
for (int i = 0; i < LED_CONFIGURABLE_COLOR_COUNT; i++) {
|
||||
hsvColor_t *color = &ledStripConfigMutable()->colors[i];
|
||||
color->h = sbufReadU16(src);
|
||||
|
|
@ -2669,7 +2669,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
break;
|
||||
|
||||
case MSP_SET_LED_STRIP_CONFIG:
|
||||
if (dataSize >= 5) {
|
||||
if (dataSize == 5) {
|
||||
tmp_u8 = sbufReadU8(src);
|
||||
if (tmp_u8 >= LED_MAX_STRIP_LENGTH || dataSize != (1 + 4)) {
|
||||
return MSP_RESULT_ERROR;
|
||||
|
|
@ -2682,7 +2682,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
break;
|
||||
|
||||
case MSP_SET_LED_STRIP_MODECOLOR:
|
||||
if (dataSize >= 3) {
|
||||
if (dataSize == 3) {
|
||||
ledModeIndex_e modeIdx = sbufReadU8(src);
|
||||
int funIdx = sbufReadU8(src);
|
||||
int color = sbufReadU8(src);
|
||||
|
|
@ -2709,7 +2709,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
#endif
|
||||
|
||||
case MSP_SET_RTC:
|
||||
if (dataSize >= 6) {
|
||||
if (dataSize == 6) {
|
||||
// Use seconds and milliseconds to make senders
|
||||
// easier to implement. Generating a 64 bit value
|
||||
// might not be trivial in some platforms.
|
||||
|
|
@ -2754,14 +2754,17 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
break;
|
||||
|
||||
case MSP2_INAV_SET_MIXER:
|
||||
mixerConfigMutable()->motorDirectionInverted = sbufReadU8(src);
|
||||
sbufReadU16(src); // Was yaw_jump_prevention_limit
|
||||
mixerConfigMutable()->platformType = sbufReadU8(src);
|
||||
mixerConfigMutable()->hasFlaps = sbufReadU8(src);
|
||||
mixerConfigMutable()->appliedMixerPreset = sbufReadU16(src);
|
||||
sbufReadU8(src); //Read and ignore MAX_SUPPORTED_MOTORS
|
||||
sbufReadU8(src); //Read and ignore MAX_SUPPORTED_SERVOS
|
||||
mixerUpdateStateFlags();
|
||||
if (dataSize == 9) {
|
||||
mixerConfigMutable()->motorDirectionInverted = sbufReadU8(src);
|
||||
sbufReadU16(src); // Was yaw_jump_prevention_limit
|
||||
mixerConfigMutable()->platformType = sbufReadU8(src);
|
||||
mixerConfigMutable()->hasFlaps = sbufReadU8(src);
|
||||
mixerConfigMutable()->appliedMixerPreset = sbufReadU16(src);
|
||||
sbufReadU8(src); //Read and ignore MAX_SUPPORTED_MOTORS
|
||||
sbufReadU8(src); //Read and ignore MAX_SUPPORTED_SERVOS
|
||||
mixerUpdateStateFlags();
|
||||
} else
|
||||
return MSP_RESULT_ERROR;
|
||||
break;
|
||||
|
||||
#if defined(USE_OSD)
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue